The performance of the real-time dynamic force and torque compensation, flexible force interactive control, and the ability to compensate for the defect of the passive rehabilitation training are the important functions within the rehabilitation robot design process. In this investigation, the upper limb rehabilitation robot is designed, and the force sensor is used to measure the joint feedback torque with high precision, high sensitivity, and low cost. In the rehabilitation robot design process, the human–machine adaptability and lightweight flexible driving design are considered, and the static and dynamic moment detection performances of the driving joint are analyzed. Furthermore, the impedance control algorithm is used to control the force output of the single drive joint, and then the sinusoidal force output performance and step force output performance are tested under different amplitudes and frequencies. Finally, the passive rehabilitation mode of the prototype is tested to evaluate the performance of the rehabilitation robot. The results show that the force output accuracy and stability of the driving joint has a good performance, which can satisfy the force-assisted application of exoskeleton.

The scale model is an effective method to research the performance of quayside container crane (QCC) under the seismic condition, but the model distortion usually exists in the similar design process which leads to the incomplete similarity between the scale model and prototype. In this investigation, the distortion theory and the prediction coefficient correction method are used to upgrade the quality of 1/20 QCC scale model and, then, the seismic response of the QCC prototype is obtained from the shake table scale model test. In the first step, the similarity ratio of the 1/20 QCC scale model is calculated by the similitude law and the size of scale model is obtained from the similarity constants. In the second step, the bending stiffness is selected and determined as the distortion term and, then, the relationship between the distortion coefficient and the prediction coefficient is obtained by the finite element prediction coefficient method. Furthermore, the three different scale models are manufactured and tested in the shake table experiment under different seismic conditions. It is found that the experimental test results are consistent with the numerical simulation results of the QCC prototype. It can be concluded that the QCC scale model can be used to predict the performance of the prototype under the different seismic conditions after corrected by distortion theory, and the distortion theory is an effective method to solve the incomplete similarity between the scale model and prototype.

The quayside container crane (QCC) scale models for seismic simulation test on vibration tables are often high, and the model size and QCC structural size differences introduce discrepancies into the QCC model. In this investigation, discrepancies in the QCC scale model were solved using the similarity method for the sectional radius of inertia. Firstly, a governing equation for the beam section size was established. Secondly, a scale model was constructed for the shake table test, and the results were compared with the simulations. It is demonstrated that the experimental results were close to the simulations. Specifically, the acceleration, strain extreme values, and the time of occurrence were similar at different QCC points. This reveals that the shake table test of the QCC scale model can approximately reflect the prototype seismic response, which verifies the feasibility of the model design method.

The grab bucket plays an important role in the construction process of dredging, and analyzing the excavation characteristics of the grab is helpful for the mechanical design of the grab bucket. In this investigation, the digging device and the digging mudstone are detailed as a system dynamic process, and a theoretical model for calculating digging resistance is established based on the Rankine theory. Furthermore, the particle shear test is performed to analyze the influence of changes in sand physical parameters on its shear characteristics. The DEM-MBD coupling simulation is adopted to calculate the particle distribution and the digging trajectory, and the influence of digging depth and particle cohesion strength is analyzed on the digging resistance. Moreover, an excavator digging experimental platform is established to validate the feasibility of the experimental results. The results show that the 10% moisture content is the inflection point of the sand particles physical and mechanical properties, and its shear strength decreases with the augment of moisture content; the variation law of the simulation results is consistent with the theoretical calculation, and the digging resistance reduction is proportional to the cohesion strength when the particles are completely sheared; the same key point parameter error of the digging curve obtained by the test and the simulation are consistent.